Ben Katz
Mini Cheetah Actuator Branch Superseded by: https://github.com/bgkatz/motorcontrol
Dependencies: mbed-dev-f303 FastPWM3
Superseded by: https://github.com/bgkatz/motorcontrol
Config/motor_config.h@48:74a40481740c, 2019-03-03 (annotated)
- Committer:
- benkatz
- Date:
- Sun Mar 03 02:51:51 2019 +0000
- Revision:
- 48:74a40481740c
- Parent:
- 47:e1196a851f76
- Child:
- 52:8e74c22ed89f
- Child:
- 53:e85efce8c1eb
Working on the new hardware
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| benkatz | 20:bf9ea5125d52 | 1 | #ifndef MOTOR_CONFIG_H |
| benkatz | 20:bf9ea5125d52 | 2 | #define MOTOR_CONFIG_H |
| benkatz | 20:bf9ea5125d52 | 3 | |
| benkatz | 48:74a40481740c | 4 | #define R_PHASE 0.13f //Ohms |
| benkatz | 47:e1196a851f76 | 5 | #define L_D 0.00002f //Henries |
| benkatz | 47:e1196a851f76 | 6 | #define L_Q 0.00002f //Henries |
| benkatz | 47:e1196a851f76 | 7 | #define KT .08f //N-m per peak phase amp, = WB*NPP*3/2 |
| benkatz | 47:e1196a851f76 | 8 | #define NPP 21 //Number of pole pairs |
| benkatz | 47:e1196a851f76 | 9 | #define GR 1.0f //Gear ratio |
| benkatz | 37:c0f352d6e8e3 | 10 | #define KT_OUT 0.45f //KT*GR |
| benkatz | 48:74a40481740c | 11 | #define WB 0.0025f //Flux linkage, Webers. |
| benkatz | 48:74a40481740c | 12 | #define R_TH 1.25f //Kelvin per watt |
| benkatz | 48:74a40481740c | 13 | #define INV_M_TH 0.03125f //Kelvin per joule |
| benkatz | 22:60276ba87ac6 | 14 | |
| benkatz | 20:bf9ea5125d52 | 15 | |
| benkatz | 20:bf9ea5125d52 | 16 | |
| benkatz | 20:bf9ea5125d52 | 17 | #endif |